In computer science, image processing is any form of signal processing for which the input is an image.
This package contains data types for representing images (Image) or things which can be recognized in images (e.g. Face).
See also
An object of this type represents a single laser scan carried out by an appropriate planar laser range-finder.
Code author: Leon Ziegler <lziegler@techfak.uni-bielefeld.de>
Type : | array of FLOAT32 |
---|
Unit: meter
A set of values coming from the laserscanning device.
Type : | FLOAT32 |
---|
Unit: radian
The angular range that is covered by the scan.
This value depends on the used hardware and equals the sensor’s one-dimensional field of view. The values from scan_values are evenly distributed over this angular range.
message LaserScan {
/**
* A set of values coming from the laserscanning device.
*/
// @unit(meter)
repeated float scan_values = 1;
/**
* The angular range that is covered by the scan.
*
* This value depends on the used hardware and equals the sensor's
* one-dimensional field of view. The values from @ref
* .scan_values are evenly distributed over this angular range.
*/
// @unit(radian)
required float scan_angle = 2;
}
TODO A collection of images.
Code author: Johannes Wienke <jwienke@techfak.uni-bielefeld.de>
Type : | array of rst.vision.Image |
---|
TODO
message Images {
/**
* TODO
*/
repeated Image images = 1;
}
A simple point cloud represented in 2D structure with information from where it was taken.
By adding information about the pose of the camera and its perceived view frustum, one can reconstruct the location and the circumstances under which the provided point cloud was captured.
Code author: Leon Ziegler <lziegler@techfak.uni-bielefeld.de>
Type : | rst.vision.SimpleXYZImage |
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The background model.
Type : | rst.geometry.CameraPose |
---|
The camera’s pose in 3d space.
Type : | rst.geometry.ViewFrustum |
---|
The camera’s view frustum.
message LocatedXYZImage {
/**
* The background model.
*/
required vision.SimpleXYZImage image = 1;
/**
* The camera's pose in 3d space.
*/
required geometry.CameraPose camera = 2;
/**
* The camera's view frustum.
*/
required geometry.ViewFrustum frustum = 3;
}
Constraint: .width * .height = len(.x)
Constraint: .width * .height = len(.y)
Constraint: .width * .height = len(.z)
Saves 3D data (X, Y, Z values) which have a 2D ordering.
This kind of depth-data is produced by e.g. Kinect or Swissranger cameras.
x, y, z are 1D arrays which save separately the X, Y, Z values of the 3D points.
Code author: Agnes Swadzba <aswadzba@techfak.uni-bielefeld.de>
Type : | UINT32 |
---|
Constraint: value > 0
Unit: pixel
Width of the underlying 2D ordering structure.
Type : | UINT32 |
---|
Constraint: value > 0
Unit: pixel
Height of the underlying 2D ordering structure.
Type : | array of FLOAT32 |
---|
The values are ordered by linearizing the underlying 2D structure row-wise.
message SimpleXYZImage {
/**
* Width of the underlying 2D ordering structure.
*/
// @constraint(value > 0)
// @unit(pixel)
required uint32 width = 1;
/**
* Height of the underlying 2D ordering structure.
*/
// @constraint(value > 0)
// @unit(pixel)
required uint32 height = 2;
/**
* The values are ordered by linearizing the underlying 2D structure row-wise.
*/
repeated float x = 3;
/**
* See @ref .x.
*/
repeated float y = 4;
/**
* See @ref .x.
*/
repeated float z = 5;
};
A list of faces with information about the dimensions of a source image used by a face detector. This allows interpretation of the bounding box data contained in the Face types.
Code author: Sebastian Wrede <swrede@techfak.uni-bielefeld.de>
Type : | array of rst.vision.Face |
---|
List of faces.
Type : | UINT32 |
---|
Unit: pixel
Width of the source image.
Type : | UINT32 |
---|
Unit: pixel
Height of the source image.
message Faces {
/**
* List of faces.
*/
repeated Face faces = 1;
/**
* Width of the source image.
*/
// @unit(pixel)
required uint32 width = 2;
/**
* Height of the source image.
*/
// @unit(pixel)
required uint32 height = 3;
}
An object of this type represents a human face detected in an image.
The region of the image which corresponds to the face is represented as a BoundingBox .
Code author: Johannes Wienke <jwienke@techfak.uni-bielefeld.de>
Type : | rst.geometry.BoundingBox |
---|
TODO Bounding box for the detection.
Type : | FLOAT64 |
---|
Unit: TODO
TODO Detection confidence factor.
message Face {
/**
* TODO Bounding box for the detection.
*/
required geometry.BoundingBox region = 1;
/**
* TODO Detection confidence factor.
*/
// @unit(TODO)
optional double confidence = 2;
}
An uncompressed image with a certain pixel format, color and depth.
The binary intensity data is contained in the data field. The remaining fields contain information about the interpretation, that is dimensions (width x height), color (color_mode, channels), depth (depth) and channel layout (data_order, channels), of that data.
Suggested interpretation of RSB timestamps:
create
Image grab time
Todo
Code author: Johannes Wienke <jwienke@techfak.uni-bielefeld.de>
Type : | OCTET-VECTOR |
---|
Constraint: len(value) = (.width * .height * .channels * .depth) / 8
Stores the actual pixel data of the image.
The number of bytes and their interpretation depend on the values of the remaining fields.
Type : | UINT32 |
---|
Unit: pixel
The number of pixels in each row of the image.
Type : | UINT32 |
---|
Unit: pixel
The number of pixels in each column of the image.
Type : | UINT32 |
---|
Unit: number
The number of color channels in the image.
The interpretation of these channels depends on color_mode.
Type : | rst.vision.Image.Depth |
---|
The number of bits used to encode
Type : | rst.vision.Image.ColorMode |
---|
Colorspace and layout of the color channels of the image.
Determines pixel layout in combination with data_order.
Type : | rst.vision.Image.DataOrder |
---|
Layout of the color planes of the image.
Determines pixel layout in combination with color_mode.
message Image {
/**
* Depth of one color channel.
*
* Reflecting the definitions from OpenCV's IplImage.
*/
enum Depth {
DEPTH_8U = 8;
DEPTH_16U = 16;
DEPTH_32F = 32;
}
/**
* Colorspace(s) and layout of color channel(s).
*/
enum ColorMode {
/**
* The image consists of only one channel containing intensity
* values.
*
* MUST be used with @ref .channels = 1.
*/
COLOR_GRAYSCALE = 0;
/**
* The image has three color channels containing the red,
* green and blue color components (note the order of the
* channels, not to be confused with @ref .COLOR_BGR).
*
* MUST be used with @ref .channels = 3.
*/
COLOR_RGB = 1;
/**
* The image has three color channels containing the blue,
* green and red color components (note the order of the
* channels, not to be confused with @ref .COLOR_RGB).
*
* MUST be used with @ref .channels = 3.
*/
COLOR_BGR = 2;
/**
* The image has three color channels, encoded in the YUV
* colorspace, and uses the YUVYUV pixel layout.
*
* MUST be used with @ref .channels = 3.
*/
COLOR_YUV = 4;
/**
* The image has three color channels, encoded in the YUV
* colorspace, and uses the YUYV pixel layout.
*
* MUST be used with @ref .channels = 3.
*/
COLOR_YUV422 = 8;
}
/**
* Describes storage layout of pixels with respect to channels.
*/
enum DataOrder {
/**
* Separate planes.
*
* Example for @ref .ColorMode.COLOR_RGB:
*
* .. parsed-literal::
*
* R R R ... (@ref .width x @ref .height times)
* G G G ... (@ref .width x @ref .height times)
* B B B ... (@ref .width x @ref .height times)
*/
DATA_SEPARATE = 0;
/**
* Interleaved image.
*
* Example for @ref .ColorMode.COLOR_RGB:
*
* .. parsed-literal::
*
* R G B R G B R G B ... (@ref .width x @ref .height times)
*/
DATA_INTERLEAVED = 1;
}
/**
* Stores the actual pixel data of the image.
*
* The number of bytes and their interpretation depend on the
* values of the remaining fields.
*/
// @constraint(len(value) = (.width * .height * .channels * .depth) / 8)
required bytes data = 1;
/**
* The number of pixels in each row of the image.
*/
// @unit(pixel)
required uint32 width = 2;
/**
* The number of pixels in each column of the image.
*/
// @unit(pixel)
required uint32 height = 3;
/**
* The number of color channels in the image.
*
* The interpretation of these channels depends on @ref
* .color_mode.
*/
// @unit(number)
optional uint32 channels = 4 [default = 3];
/**
* The number of bits used to encode
*/
optional Depth depth = 5 [default = DEPTH_8U];
/**
* Colorspace and layout of the color channels of the image.
*
* Determines pixel layout in combination with @ref .data_order.
*/
optional ColorMode color_mode = 6 [default = COLOR_RGB];
/**
* Layout of the color planes of the image.
*
* Determines pixel layout in combination with @ref .color_mode.
*/
optional DataOrder data_order = 7 [default = DATA_SEPARATE];
}
enum Depth {
DEPTH_8U = 8;
DEPTH_16U = 16;
DEPTH_32F = 32;
}
Colorspace(s) and layout of color channel(s).
The image consists of only one channel containing intensity values.
MUST be used with channels = 1.
The image has three color channels containing the red, green and blue color components (note the order of the channels, not to be confused with COLOR_BGR).
MUST be used with channels = 3.
The image has three color channels containing the blue, green and red color components (note the order of the channels, not to be confused with COLOR_RGB).
MUST be used with channels = 3.
enum ColorMode {
/**
* The image consists of only one channel containing intensity
* values.
*
* MUST be used with @ref .channels = 1.
*/
COLOR_GRAYSCALE = 0;
/**
* The image has three color channels containing the red,
* green and blue color components (note the order of the
* channels, not to be confused with @ref .COLOR_BGR).
*
* MUST be used with @ref .channels = 3.
*/
COLOR_RGB = 1;
/**
* The image has three color channels containing the blue,
* green and red color components (note the order of the
* channels, not to be confused with @ref .COLOR_RGB).
*
* MUST be used with @ref .channels = 3.
*/
COLOR_BGR = 2;
/**
* The image has three color channels, encoded in the YUV
* colorspace, and uses the YUVYUV pixel layout.
*
* MUST be used with @ref .channels = 3.
*/
COLOR_YUV = 4;
/**
* The image has three color channels, encoded in the YUV
* colorspace, and uses the YUYV pixel layout.
*
* MUST be used with @ref .channels = 3.
*/
COLOR_YUV422 = 8;
}
enum DataOrder {
/**
* Separate planes.
*
* Example for @ref .ColorMode.COLOR_RGB:
*
* .. parsed-literal::
*
* R R R ... (@ref .width x @ref .height times)
* G G G ... (@ref .width x @ref .height times)
* B B B ... (@ref .width x @ref .height times)
*/
DATA_SEPARATE = 0;
/**
* Interleaved image.
*
* Example for @ref .ColorMode.COLOR_RGB:
*
* .. parsed-literal::
*
* R G B R G B R G B ... (@ref .width x @ref .height times)
*/
DATA_INTERLEAVED = 1;
}
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